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nuking socket feedback class

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ASTRA-SHC
2025-04-12 16:05:19 -05:00
committed by David
parent b6348e4c00
commit e059f5cfec
3 changed files with 32 additions and 34 deletions
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35
src/arm_pkg/arm_pkg/arm_node.py
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@@ -25,41 +25,12 @@ from ament_index_python.packages import get_package_share_directory
# from scipy.spatial.transform import Rotation as R
from . import astra_arm
#from . import socket_feedback
serial_pub = None
thread = None
# struct for socket feedback
class SocketFeedback:
def __init__(self):
self.bat_voltage = 0.0
self.voltage_12 = 0.0
self.voltage_5 = 0.0
self.voltage_3 = 0.0
self.joint_angles = [0.0, 0.0, 0.0, 0.0]
self.joint_temps = [0.0, 0.0, 0.0, 0.0]
self.joint_voltages = [0.0, 0.0, 0.0, 0.0]
self.joint_currents = [0.0, 0.0, 0.0, 0.0]
def updateBusVoltages(self, voltages):
self.bat_voltage = voltages[0]
self.voltage_12 = voltages[1]
self.voltage_5 = voltages[2]
self.voltage_3 = voltages[3]
def updateJointVoltages(self, axis, voltage):
self.joint_voltages[axis] = voltage
def updateJointCurrents(self, axis, current):
self.joint_currents[axis] = current
def updateJointTemperatures(self, axis, temperature):
self.joint_temps[axis] = temperature
def updateJointAngles(self, angles):
self.joint_angles = angles
@@ -68,9 +39,6 @@ class SerialRelay(Node):
# Initialize node
super().__init__("arm_node")
#output to console
self.get_logger().info("Starting arm node...")
# Get launch mode parameter
self.declare_parameter('launch_mode', 'arm')
self.launch_mode = self.get_parameter('launch_mode').value
@@ -230,6 +198,7 @@ class SerialRelay(Node):
# Convert the voltages to floats
for i in range(4):
self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
self.
self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
else: